Devices and methods for repairing pipes

ABSTRACT

A pipe repair device includes a body defining a first end and a second end opposite the first end; a stent configurable in a compressed configuration and an expanded configuration, the stent mounted to the body in the compressed configuration; and a locomotion subsystem configured to drive the pipe repair device through a pipe, the locomotion subsystem comprising a steering rod extending from the first end of the body and configured to engage an inner surface of the pipe.

RELATED U.S. APPLICATION DATA

The present application is a continuation of U.S. application Ser. No.16/818,501, filed Mar. 13, 2020, which is a continuation of U.S.application Ser. No. 16/112,191, filed Aug. 24, 2018, which issued asU.S. Pat. No. 10,627,038 on Apr. 21, 2020, which claims the benefit ofU.S. Provisional Application No. 62/563,189, filed on Sep. 26, 2017,each of which are hereby incorporated by reference in their entireties.

TECHNICAL FIELD

This disclosure relates to the field of pipe repair. More specifically,this disclosure relates to a leak detection and pipe repair device forrepairing a pipe.

BACKGROUND

Piping systems, including municipal water systems, can develop breaks inpipe walls that can cause leaking. Example of breaks in a pipe wall caninclude radial cracks, longitudinal cracks, point cracks, etc. Leakingalso commonly occurs at joints in the piping system. Locating andrepairing a leak in a pipe wall often requires the piping system to beshut off, which can be inconvenient for customers and costly forproviders. Furthermore, de-pressurizing the pipeline can increase of therisk of undesirable foreign objects (e.g., bacteria, dirt, etc.)entering the pipeline at the location of the leak. Additionally,locating the break site and repairing the break can necessitategrandiose construction, including the digging up of streets, sidewalks,and the like, which can be costly and time-consuming.

SUMMARY

It is to be understood that this summary is not an extensive overview ofthe disclosure. This summary is exemplary and not restrictive, and it isintended neither to identify key or critical elements of the disclosurenor delineate the scope thereof. The sole purpose of this summary is toexplain and exemplify certain concepts off the disclosure as anintroduction to the following complete and extensive detaileddescription.

Disclosed is a pipe repair device comprising a body; a sensor attachedto the body for detecting the leak in the pipe; a transport mechanismattached to the body for transporting the pipe repair device along thepipe; and a repair mechanism comprising a repair material for repairingthe leak.

Also disclosed is a method for repairing a pipeline comprising insertinga pipe repair device into the pipeline; detecting a leak at a leakregion in the pipeline; transporting the pipe repair device through thepipeline to the leak region; and repairing the leak.

A method for repairing a pipe is also disclosed, the method comprisingisolating a controlled volume around a leak region of the pipe; creatinga fluid impermeable seal around the controlled volume; and insertingrepair material into the controlled volume.

Disclosed is a pipe repair stent comprising a sealing layer comprising aflexible and compressible repair material; and a spring, wherein thesealing layer is wrapped around a circumference of the spring; whereinthe stent is configurable in an expanded configuration and a compressedconfiguration, the spring biasing the stent to the expandedconfiguration.

Also disclosed is a pipe repair device comprising a body defining afirst end, a second end, and a middle section therebetween; a stentattached to the body, the stent comprising a sealing layer and a spring,the stent configurable in a compressed configuration and an expandedconfiguration; a locomotion subsystem comprising at least one wheel, thelocomotion subsystem configured to drive the pipe repair device througha pipe; and a power subsystem configured to supply electrical power andcarry the electrical power to the locomotion subsystem.

A method for repairing a pipe is also disclosed, the method comprisingproviding a stent, the stent comprising a spring and a sealing layer,the stent configurable in an expanded configuration and a compressedconfiguration; transporting the stent in the compressed configuration toa leak in a pipe; expanding the stent to the expanded configurationwithin the pipe; and engaging the sealing layer with an inner surface ofthe pipe at the leak to repair the leak.

Additionally, disclosed is a pipe repair device comprising a bodydefining a first end and a second end opposite the first end; a stentconfigurable in a compressed configuration and an expandedconfiguration, the stent mounted to the body in the compressedconfiguration; and a locomotion subsystem configured to drive the piperepair device through a pipe, the locomotion subsystem comprising asteering rod extending from the first end of the body and configured toengage an inner surface of the pipe.

Also disclosed is a pipe repair device comprising a body; a stentconfigurable in a compressed configuration and an expandedconfiguration, the stent mounted to the body in the compressedconfiguration; and a leak detection subsystem comprising at least onesensor, the at least one sensor configured to identify a position of aleak in a pipeline; wherein the pipe repair device is transportablethrough the pipeline to the leak, and wherein the stent is expandable tothe expanded configuration to seal the leak.

Various implementations described in the present disclosure may includeadditional systems, methods, features, and advantages, which may notnecessarily be expressly disclosed herein but will be apparent to one ofordinary skill in the art upon examination of the following detaileddescription and accompanying drawings. It is intended that all suchsystems, methods, features, and advantages be included within thepresent disclosure and protected by the accompanying claims.

BRIEF DESCRIPTION OF THE DRAWINGS

The features and components of the following figures are illustrated toemphasize the general principles of the present disclosure.Corresponding features and components throughout the figures may bedesignated by matching reference characters for the sake of consistencyand clarity.

FIG. 1 is a front perspective view of a leak detection and pipe repairdevice, in accordance with one aspect of the present disclosure.

FIG. 2 is a front view of the leak detection and pipe repair device ofFIG. 1 within a pipe.

FIG. 3 is a back perspective view of the leak detection and pipe repairdevice of FIG. 1 partially inserted into the pipe of FIG. 2 .

FIG. 4 is a schematic representation of the subsystems of the leakdetection and pipe repair device of FIG. 1 , in accordance with anotheraspect of the present disclosure.

FIG. 5 is a cross-sectional side view of a pipe according to anotheraspect of the present disclosure.

FIG. 6 is a cross-sectional side view of the pipe of FIG. 5 and aresurfacing mechanism of the leak detection and pipe repair device ofFIG. 1 .

FIG. 7 is a cross-sectional side view of the pipe of FIG. 5 and a repairmechanism comprising a cap and repair material, according to anotheraspect of the present disclosure.

FIG. 8 is a perspective view of the pipe of FIG. 2 and a repairmechanism comprising a stent, according to another aspect of the presentdisclosure.

FIG. 9 is a cross-sectional view of the pipe of FIG. 5 and a leakevaluation mechanism, according to another aspect of the presentdisclosure.

FIG. 10 is a perspective view of the leak detection and repair deviceaccording to another aspect of the present disclosure.

FIG. 11 is a perspective view of the leak detection and repair deviceaccording to another aspect of the present disclosure.

FIG. 12 is a perspective view of the leak detection and repair deviceaccording to another aspect of the present disclosure.

FIG. 13 is a perspective view of the leak detection and repair deviceaccording to another aspect of the present disclosure.

FIG. 14 is a perspective view of the leak detection and repair deviceaccording to another aspect of the present disclosure.

FIG. 15 is a perspective view of the leak detection and repair deviceaccording to another aspect of the present disclosure.

DETAILED DESCRIPTION

The present disclosure can be understood more readily by reference tothe following detailed description, examples, drawings, and claims, andthe previous and following description. However, before the presentdevices, systems, and/or methods are disclosed and described, it is tobe understood that this disclosure is not limited to the specificdevices, systems, and/or methods disclosed unless otherwise specified,and, as such, can, of course, vary. It is also to be understood that theterminology used herein is for the purpose of describing particularaspects only and is not intended to be limiting.

The following description is provided as an enabling teaching of thepresent devices, systems, and/or methods in its best, currently knownaspect. To this end, those skilled in the relevant art will recognizeand appreciate that many changes can be made to the various aspects ofthe present devices, systems, and/or methods described herein, whilestill obtaining the beneficial results of the present disclosure. Itwill also be apparent that some of the desired benefits of the presentdisclosure can be obtained by selecting some of the features of thepresent disclosure without utilizing other features. Accordingly, thosewho work in the art will recognize that many modifications andadaptations to the present disclosure are possible and can even bedesirable in certain circumstances and are a part of the presentdisclosure. Thus, the following description is provided as illustrativeof the principles of the present disclosure and not in limitationthereof.

As used throughout, the singular forms “a,” “an” and “the” includeplural referents unless the context clearly dictates otherwise. Thus,for example, reference to “an element” can include two or more suchelements unless the context indicates otherwise.

Ranges can be expressed herein as from “about” one particular value,and/or to “about” another particular value. When such a range isexpressed, another aspect includes from the one particular value and/orto the other particular value. Similarly, when values are expressed asapproximations, by use of the antecedent “about,” it will be understoodthat the particular value forms another aspect. It will be furtherunderstood that the endpoints of each of the ranges are significant bothin relation to the other endpoint, and independently of the otherendpoint.

For purposes of the current disclosure, a material property or dimensionmeasuring about X or substantially X on a particular measurement scalemeasures within a range between X plus an industry-standard uppertolerance for the specified measurement and X minus an industry-standardlower tolerance for the specified measurement. Because tolerances canvary between different materials, processes and between differentmodels, the tolerance for a particular measurement of a particularcomponent can fall within a range of tolerances.

As used herein, the terms “optional” or “optionally” mean that thesubsequently described event or circumstance can or cannot occur, andthat the description includes instances where said event or circumstanceoccurs and instances where it does not.

The word “or” as used herein means any one member of a particular listand also includes any combination of members of that list. Further, oneshould note that conditional language, such as, among others, “can,”“could,” “might,” or “may,” unless specifically stated otherwise, orotherwise understood within the context as used, is generally intendedto convey that certain aspects include, while other aspects do notinclude, certain features, elements and/or steps. Thus, such conditionallanguage is not generally intended to imply that features, elementsand/or steps are in any way required for one or more particular aspectsor that one or more particular aspects necessarily include logic fordeciding, with or without user input or prompting, whether thesefeatures, elements and/or steps are included or are to be performed inany particular aspect.

Disclosed are components that can be used to perform the disclosedmethods and systems. These and other components are disclosed herein,and it is understood that when combinations, subsets, interactions,groups, etc. of these components are disclosed that while specificreference of each various individual and collective combinations andpermutation of these may not be explicitly disclosed, each isspecifically contemplated and described herein, for all methods andsystems. This applies to all aspects of this application including, butnot limited to, steps in disclosed methods. Thus, if there are a varietyof additional steps that can be performed it is understood that each ofthese additional steps can be performed with any specific aspect orcombination of aspects of the disclosed methods.

Disclosed in the present application is a leak detection and pipe repairdevice and associated methods, systems, devices, and various apparatus.Example aspects of the leak detection and pipe repair device cancomprise a locomotion subsystem, a leak detection subsystem, and a piperepair subsystem. It would be understood by one of skill in the art thatthe disclosed leak detection and pipe repair device is described in buta few exemplary aspects among many. No particular terminology ordescription should be considered limiting on the disclosure or the scopeof any claims issuing therefrom.

FIGS. 1-3 illustrates a first aspect of a leak detection and pipe repairdevice 100 (hereinafter, the “pipe repair device 100”), according to thepresent disclosure. Example aspects of the pipe repair device 100 candrive through a pressurized pipeline 270 (shown in FIG. 2 ), detect aleak 580 (shown in FIG. 5 ) in a pipe 272 (shown in FIG. 2 ) of thepipeline 270, and repair the damage to the pipe 272 at the location ofthe leak 580 (e.g., the leak region 582, shown in FIG. 5 ). Referring tothe block diagram of FIG. 4 , these functions can be performed byvarious subsystems of the pipe repair device 100. Example aspects of thepipe repair device 100 can comprise a locomotion subsystem 200, a leakdetection subsystem 300, and a pipe repair subsystem 400, as will bedescribed in further detail below. The pipe repair device 100 furthercan comprise a power subsystem 500 and a communications subsystem 600.In some aspects, the pipe repair device 100 can also comprise a leakregion preparation subsystem 700 and/or a repair evaluation subsystem800. According to the example aspects, the various subsystems of thepipe repair device 100 can be controlled by a control module 900. Insome aspects, the pipe repair device 100 can be used in municipaldrinking water systems, while other aspects, the pipe repair device 100can be used in other pipeline 270 systems, such as oil pipelines, gaspipelines, etc.

Control Module 900

Example aspects of the control module 900 can function to providecontrol instructions to the various subsystems of the pipe repair device100. The control module 900 can also function to generate controlinstructions in response to and/or based on sensor inputs. In exampleaspects, the control module 900 can be self-contained within the piperepair device 100 and can comprise a processor (not shown) attached tothe pipe repair device 100. In a second aspect, the control module 900can be implemented at a remote computing system (not shown) and can beconnected to the pipe repair device 100 by a data link (e.g., a wiredtether 302 (shown in FIG. 3 ), a wireless link, etc.). However, thecontrol module 900 can be otherwise suitably implemented in otheraspects.

Power Subsystem 500

The power subsystem 500 can function to provide power to the varioussubsystems of the pipe repair device 100 in order to facilitateoperation of the subsystems. In a first aspect, the power subsystem 500can comprise the tether 302 that can carry electrical power from asurface generator (not shown) to the pipe repair device 100 within thepipeline 270. In a second aspect, the power subsystem 500 can comprise abattery module (not shown) onboard the pipe repair device 100. However,in other aspects, the power subsystem 500 can comprise any suitableenergy storing and/or generating components.

Communications Subsystem 600

The pipe repair device 100 can also comprise the communicationssubsystem 600 in various aspects. The communications subsystem 600 canfunction to transmit and receive control instructions and sensor inputs.In one aspect, the communications subsystem 600 can comprise a serialdata bus (not shown) connected to the tether 302 that directly connectsthe pipe repair device 100 to a computing system (not shown) outside ofthe pipeline 270 (e.g., providing a serial data connection). In anotherexample, the communications subsystem 600 can comprise a wireless radio(not shown) that can be connected to the computing system by a wirelessdata link. In yet another example, the communications subsystem 600 cancomprise an acoustic-data transducer (not shown) that can send andreceive signals transmitted as vibrations through a wall of the pipeline270 and/or the water within the pipeline 270. In other aspects, thecommunications subsystem 600 can comprise any other suitable componentsfor communicating between the pipe repair device 100 and the computingsystem.

Locomotion Subsystem 200

As shown in FIGS. 1-3 , the pipe repair device 100 can comprise a body110 defining a first end 112, an opposite second end 114, and a middlesection 116 therebetween. Optionally, the body 110 can be formed from anNSF/ANSI 61 certified material that is approved as safe for use indrinking-water applications, such as, for example, stainless steel. Inother aspects, the body 110 can be formed from another suitablematerial, such as, for example, aluminum, other metals, plastic, etc. Asbest seen in FIG. 3 , the tether 302 can be attached to the second end114 of the body 110, such that the tether 302 trails behind the piperepair device 100 as it moves in a forward direction through thepipeline 270.

The locomotion subsystem 200 can function to transport the pipe repairdevice 100 within the pipeline 270 to the leak region 582. As shown inFIG. 1 , the locomotion subsystem 200 can comprise a transport mechanism120 for transporting the pipe repair device 100 along an inner surface274 (shown in FIG. 2 ) of the pipeline 270. In a specific exampleaspect, the transport mechanism 120 can comprise radially-repositionablecontinuous tracks 122 attached to the body 110 (e.g., six continuoustracks 122 positioned equidistant azimuthally about the pipe repairdevice 100, as shown) that can be biased against the inner surface 274of the pipeline 270. In one aspect, each of the tracks 122 substantiallyspans a length of the middle region of the body 110, from the first end112 to the second end 114.

In one aspect, as depicted, each the tracks 122 can be biased againstthe inner surface 274 of the pipeline 270 by a hydraulic cylinder (notshown). For example, an onboard pump 126 can pump fluid to the hydrauliccylinders, and the fluid can apply pressure to a piston 224 (shown inFIG. 2 ) of the hydraulic cylinder. The piston 224 can force therespective track 122 outward against the inner surface 274 of thepipeline 270. According to example aspects, the hydraulic cylinders canallow the pipe repair device 100 to accommodate for pipes of varyinginterior diameters because the tracks 122 can be radially repositionablerelative to the body 110. For example, in the depicted aspect, thepistons 224 can move into and out of the body 110 to adjust the distancebetween the tracks 122 and the body 110. Furthermore, example aspects ofthe tracks 122 can have a certain degree of compliance, which canprovide for improved maneuverability of the pipe repair device 100around turns in the pipeline 270. In some aspects, the locomotionsubsystem 200 further can comprise a pressure sensor (not shown) in eachof the hydraulic cylinders. The pressure sensors can be configured tomeasure the pressure applied by the fluid to the pistons 224. Thepressure data can be communicated to the control module 900, and thecontrol module can control adjustments to the pressure, as necessary,for improved maneuverability.

In another aspect, the tracks 122 can be biased against the innersurface 274 of the pipeline 270 by pneumatic cylinders. In such anaspect, compressed air can be used to force the tracks 122 outwardagainst the inner surface 274 of the pipeline 270. In still otheraspects, the tracks 122 can be biased against the inner surface 274 ofthe pipeline 270 by other suitable biasing means, such as, for example,a compression spring or by a controllable scissor-jack mechanism.Moreover, in other aspects, the pipe repair device 100 can comprisealternative or additional mechanisms for rolling, sliding, gliding, orotherwise moving along the inner surface 274 of the pipeline 270, suchas, for example, wheels.

For example, FIGS. 10-15 illustrate additional example aspects of thepipe repair device 100 and locomotion subsystem 200. Each aspect of thepipe repair device 100 can comprise the body 110 and one or more wheels1022 for engaging the inner surface 274 of the pipeline 270 (shown inFIG. 2 ). As shown, the wheels 1022 can be connected to one or morepivotable arms 1021 that can allow the wheels 1022 to be radiallyrepositioned to accommodate for varying pipe diameters. In some aspects,the pivotable arms 1021 can be biased outward by springs 1023.Furthermore, as shown in FIG. 15 , example aspects of the pipe repairdevice 100 can comprise a connector 1524 for physically connecting thepipe repair device 100 to the environment outside of the pipeline 270(shown in FIG. 2 ). For example, as shown, the connector 1524 can be apushrod 1525 for pushing the pipe repair device 100 through the pipeline270. In other aspects, the connector 1524 can be a tether, wire, or anyother suitable connection mechanism.

Referring back to FIGS. 1-3 , example aspects of the tracks 122 can bedriven by one or more electric motors (not shown) that are operablewhile the pipe repair device 100 is submerged in fluid flowing throughthe pipeline 270. Optionally, the pipe repair device 100 can comprise atleast two motors that can be differentially driven to facilitatemaneuvering the pipe repair device 100 around turns in the pipeline 270.For example, in one aspect, the pipe repair device 100 can comprise afirst motor and a second motor (first and second motors not shown). Whenapproaching a turn in the pipeline, the speed of the first motor can beslowed in order to slow the tracks 122 driving on the inside of theturn, to facilitate navigation around the turn. In other aspects, thelocomotion subsystem 200 can additionally or alternatively comprise oneor more impellers, propellers, synthetic flagella, and/or any othersuitable mechanisms for locomotion within the pipeline 270. In exampleaspects, the locomotion of the pipe repair device 100 can be remotelyoperated by a remote operator (e.g. a technician) outside of thepipeline 270 (e.g., above ground).

Example aspects of the locomotion subsystem 200 can comprise a steeringrod 130 extending from the first end 112 of the body 110. The steeringrod 130 can be movable relative to the body 110 of the pipe repairdevice 100 and can serve to guide the pipe repair device 100 in apreferred direction at an intersection in the pipeline 270. In oneexample aspect, the intersection can be a tee fitting (not shown) in thepipeline 270, and the pipe repair device 100 can move in either a leftdirection into a left-side pipe segment or a right direction into aright-side pipe segment. The steering rod 130 can be pointed in thepreferred direction (e.g., left or right) and the pipe repair device 100can be driven forward. As the pipe repair device 100 is driven forward,the steering rod 130 can engage the inner surface 274 of the preferredpipe segment (e.g. the left-side segment or right-side segment), and thepipe repair device 100 will turn in the preferred direction. In exampleaspects, the steering rod 130 can be actuated mechanically orelectronically by the remote operator.

Example aspects of the locomotion subsystem 200 can be configured tonavigate bends, tees, and vertical sections of the pipeline 270. Thelocomotion subsystem 200 can also allow for both forward and reversemovement through the pipeline 270. For example, the pipe repair device100 can drive in a forward direction through the pipeline 270 to theleak region 582, and then drive in a reverse direction out of thepipeline 270 upon completion of repairs to the leak region 582. Inexample aspects, the tether 302 can also allow a remote operator tomanually pull the pipe repair device 100 out of the pipeline 270 in aninstance where the pipe repair device 100 is unable to drive itself outof the pipeline 270. Examples of such instances can includemalfunctioning of the locomotion subsystem 200, power subsystem 500, orcontrol module 900.

Leak Detection Subsystem 300

Example aspects of the pipe repair device 100 can further comprise theleak detection subsystem 300, which can function to identify thepresence of the leak 580 and the position of the leak region 582requiring repair relative to the pipe repair device 100, in order toenable the pipe repair device 100 to suitably position itself relativeto the leak region 582 for a repair. In a first aspect, the pipe repairdevice 100 can comprise an image sensor 132 (e.g., a camera 133) forvisually identifying the leak region 582. In an example of this aspect,the pipe repair device 100 can stream video data collected via the imagesensor 132 to a remote operator in order to manually identify the leakregion 582 based on the visibility of damage to the pipe 272. As shown,the camera 133 can be disposed within a protective housing 131. Someaspects of the pipe repair device 100 can also comprising a lightingmechanism (not shown) for illuminating the interior of the pipeline 270for improved visibility. In a second aspect, the pipe repair device 100can comprise an acoustic microphone 134 (e.g., a hydrophone 135) foraurally identifying the leak region 582. For example, the pipe repairdevice 100 can comprise one or more hydrophones 135 that can identifythe axial and azimuthal position of the leak region 582 based ontriangulation of hydrophone-derived audio signatures corresponding toleakage out of the pipeline 270. In some aspects, as shown in FIG. 1 ,the leak detection subsystem 300 can comprise both the image sensor 132and the acoustic microphone 134 for improved detection of the leakregion 582 and positioning of the pipe repair device 100 for repairingthe leak region 582.

Other example aspects of the pipe repair device 100 can compriseadditional or alternative technologies for detecting a leak 580 withinthe pipeline 270. For example, other technologies can include, but arenot limited to, ultrasound, magnetic flux, lidar, sonar, laser, spectralaerial imaging, and light/infrared technologies. Yet another technologyfor detecting a leak 580 can include inserting dyes or gasses into thepipeline 270 and measuring for seepage through the leak 580.

Upon detection of the leak 580, the locomotion subsystem 200 cantransport the pipe repair device 100 within the pipeline 270 to the leakregion 582 and, using the leak detection subsystem 300, position thepipe repair device 100 at an ideal location for repairing the leakregion 582. The locomotion subsystem 200 can transport the pipe repairdevice 100 to the leak region 582 after the leak 580 is identified, orcan transport the pipe repair device 100 contemporaneously with locatingthe leak region 582 (e.g., transport the pipe repair device 100 thoughthe pipeline 270 and identify the leak region 582 as the pipe repairdevice 100 traverses the pipeline 270). Moreover, in some aspects, otherfactors or mechanisms can additionally or alternatively aid in themovement of the pipe repair device 100 axially through the pipeline 270to the leak region 582. For example, a current of the fluid in thepipeline 270, a water hammer introduced into the pipeline 270 togenerate a pressure force, or, as noted above, a propulsion mechanism,such as an impeller, propeller, and/or any other suitable submersiblepropulsion mechanism can assist in moving the pipe repair device 100 tothe leak region 582. According to example aspects, the leak detectionsubsystem 300 can be used to locate additional leak regions 582requiring repair before, during, or after repair of the first leakregion 582.

Leak Region Preparation Subsystem 700

FIG. 5 illustrates an example aspect of the pipe 272 of the pipeline 270comprising the leak 580. Example aspects of the leak 580 can be causedby a crack 584 in the pipe 272. The crack 584, and in some aspects thesurrounding area, can define the leak region 582. As shown in FIG. 6 ,some example aspects of the pipe repair device 100 can comprise the leakregion preparation subsystem 700. The leak region preparation subsystem700 can comprise a resurfacing mechanism 638 that can, in variations,function to grind, ablate, scour, and/or otherwise suitably removematerial from the inner surface 274 of the pipe 272 in the leak region582. In additional or alternative aspects, the resurfacing mechanism 638can overlay additional material on the inner surface 274 (e.g., fill inuneven areas of the inner surface 274 with additional material toprepare a substantially smooth inner surface 274 at the leak region582). In some aspects, the leak region preparation subsystem 700 cancomprise a volume control mechanism (not shown) that functions tocontrol a controlled preparation volume of the pipe 272 proximal theleak region 582. Example aspects of the volume control mechanism canisolate the controlled preparation volume. The volume control mechanismcan provide a suction force to the controlled preparation volumeproximal the leak region 582 (e.g., to prevent removed pipe materialand/or resurfacing material from being entrained in fluid flowingthrough the pipe 272 and carried downstream), a barrier to temporarilyblock and/or limit fluid flow passed the barrier (e.g., an inflatablebladder and/or balloon that can be expanded downstream of the leakregion 582), or any other suitable mechanism for regulating theconditions of the controlled preparation volume proximal the leak region582. Other example aspects of the pipe repair device 100 may notcomprise the leak region preparation subsystem 700.

Pipe Repair Subsystem 400

The pipe repair device 100 can also comprise the pipe repair subsystem400 for repairing the leak region 582 in the pipeline 270 detected bythe leak detection subsystem 300 described above. The pipe repairsubsystem 400 can function to reduce the leak rate through the leakregion 582 of the pipe 272 to and/or below a leak rate threshold byapplying a repair material to the leak region 582. Applying the repairmaterial functions to provide an impermeable mechanical barrier betweenthe fluid (e.g., water) within the pipeline 270 and the environmentexternal to the walls of the pipe 272 in order to repair the leak 580.Example aspects of the repair material can be a NSF/ANSI 61 certifiedmaterial that is approved as safe for use in drinking-water applications

The leak rate threshold can be a zero-leakage rate (e.g., completelyreducing the leak rate), less than a known lowest leak rate of thepiping system (e.g., to reduce the minimum leak rate of the pipingsystem), less than a known average leak rate of the piping system (e.g.,to reduce the average leak rate of the piping system), and/or any othersuitable leak rate threshold.

In a first aspect, as shown in FIG. 7 , the repair material can comprisea liquid-phase repair material. Specifically, the repair material can beepoxy reagents 740. The epoxy reagents 740 can be, for example, anacrylic-based mixture, a polyester-based mixture, a resin-based mixture,or any other suitable epoxy mixture. In aspects wherein the repairmaterial is a liquid-phase repair material, the repair material cancomprise a binder. The binder can be an organic binder, an inorganicbinder, a combination thereof, and/or any suitable binder. In examples,the repair material can comprise a water-insoluble cement, plaster,polymer compound (e.g., epoxy, thermoplastic, foam filler material,resin, etc.), and/or any other suitable material that can be applied tothe leak region 582 in a liquid or semi-liquid phase. The repairmaterial and/or components thereof can optionally comprise curablecompounds (e.g., compounds that solidify upon curing). Such compoundscan be curable via heat application, exposure to water, exposure toother compounds (e.g., a reagent that causes a phase-change in thecurable compound), exposure to electromagnetic radiation (e.g.,ultraviolet light), and/or curable in any other suitable manner.

As shown in FIG. 7 , the pipe repair device 100 can comprise a flexiblecap 742. The flexible cap 742 can be pressed against the inner surface274 of the pipe 272 at the leak region 582 to isolate a controlledvolume 746 around the leak region 582. The pressing force can begenerated by the pipe repair subsystem 400, be generated by thesurrounding water pressure within the pipe 272 (e.g., leveraging thelow-pressure region proximal the leak 580 to drive cap attachment), orbe otherwise generated and applied. In example aspects, the flexible cap742 can also function as the volume control mechanism of the leak regionpreparation subsystem 700, such that the controlled volume 746 can alsobe the controlled preparation volume. However, in other aspects, theflexible cap 742 can be separate from the volume control mechanism. Theflexible cap 742 can create a fluid-impermeable seal around the leakregion 582, such that fluid flowing through the pipe 272 cannot enterthe controlled volume 746, and such that the repair material cannotescape the controlled volume 746.

The pipe repair subsystem 400 can pump the epoxy reagents 740 into thecontrolled volume 746 defined within the flexible cap 742 through anopening 744 in the flexible cap 742 In example aspect, the epoxyreagents 740 can be mixed within the controlled volume 746 (e.g., usingan agitator, by modulating the in-flow of the reagents 740 to layer thereagents 740 within the controlled volume 746 such that passivediffusion processes result in mixing, etc.). Some aspects of the piperepair subsystem 400 can comprise a mixing nozzle (not shown) for mixingthe epoxy reagents 740.

The injected volume of binder can be a predetermined amount, adynamically determined amount (e.g., a small amount if the leak 580 isproximal the bottom or nadir of the pipe; the controlled volume 746 ifthe leak 580 is proximal the top or apex of the pipe), or be anysuitable volume. In an example aspect, injecting the epoxy reagents 740can displace fluid (not shown) that is isolated within the controlledvolume 746 (e.g., through a one-way check valve embedded in the flexiblecap 742). In another aspect, the epoxy can be injected through a nozzlethat emerges into the controlled volume 746. A bubble can be injectedinto the epoxy flow such that when the controlled volume 746 has beenfilled with the injected epoxy, the bubble can be liminal to theboundary between the controlled volume 746 and the nozzle (e.g., tocreate a discontinuous region between the epoxy inside the controlledvolume 746 and the source of the epoxy). In still another aspect,ultraviolet light can be transmitted into the controlled volume 746(e.g., via fiber-optic cabling, transparent walls of the flexible cap742, etc.) and can cure the epoxy.

In another aspect, the flexible cap 742 can be attached to the innersurface 274 of the pipe 272 by the epoxy (e.g., after curing and/orsolidification of the epoxy), and can be left at the repaired leakregion 582 (e.g., detached from the pipe repair device 100) afterrepairing the leak 580. In a similar aspect, the epoxy reagents 740 canbe contained within sub-compartments attached to an outside of theflexible cap 742, and repairing the leak 580 can comprise compressingthe cap 742 against the leak region 582 to simultaneously inject theepoxy reagents 740 from the sub-compartments into the controlled volume746, mixing the reagents 740 within the controlled volume 746, andbiasing the epoxy mixture against the leak region 582 to fill the leak580 and repair the leak 580 upon solidification of the epoxy mixture.However, in other aspects, the flexible cap 742 can be reusable (e.g.,withdrawn from the inner surface 274 of the pipe 272 after epoxysolidification and/or curing).

Some example aspects of the pipe repair subsystem 400 can furthercomprise a separating mechanism (not shown) for mechanically separatingthe solidified epoxy from the source of the epoxy (e.g., the nozzle).For example, the separating mechanism can be a blade, a scissor-likemechanism, or any other suitable mechanism for cutting the epoxy awayfrom the source.

In a second aspect, as shown in FIG. 8 , the pipe repair subsystem 400can comprise a stent 850 for repairing the leak 580 at the leak region582 (shown in FIG. 5 ). Example aspects of the stent 850 can beexpandable and compressible, such that the stent 850 can be oriented inan expanded configuration, as shown, and a compressed configuration (notshown). The stent 850 can comprise a spring 852 and a sealing layer 854defining a substantially cylindrical structure. A void 856 can extendthrough a center of the cylindrical structure. The spring 852 can biasthe stent 850 to the expanded configuration, as shown. In the presentaspect, the spring 852 can comprise a metal wire 853 defining a wavepattern in the axial direction. However, other aspects of the spring 852can comprise any other suitable material and define any other suitablespring pattern or design. The sealing layer 854 can wrap around acircumference of the spring 852, engaging an outer surface of the spring852. Example aspects of the sealing layer 854 can comprise a flexibleand compressible material, such as, for example, neoprene. In otheraspects, the sealing layer 854 can be formed from foam, another rubbermaterial, epoxy, silicone, or any other suitable flexible material forproviding a watertight seat between the stent 850 and the inner surface274 of the pipe 272 at the leak region 582. Optionally, the spring 852and sealing layer 854 can be formed from NSF/ANSI 61 certified materialsthat are approved as safe for use in drinking-water applications.

The stent 850 can be oriented in the compressed configuration fortransport of the stent 850 by the pipe repair device 100 to the leakregion 582. The stent 850 can be compressed by a compression mechanism,such as a compression sleeve (not shown). In other aspect, a tensioningmechanism can be used to orient the stent 850 in the compressedconfiguration, such as, for example, a cable (not shown) configured tocontract the stent 850 radially inward. As the stent 850 is driventhrough the pipeline 270 by the pipe repair device 100, fluid in thepipeline 270 can continue to flow around and/or through the compressedstent 850. As such, the flow of fluid in the pipeline 270 can continueuninterrupted as the stent 850 is navigated through the pipeline 270.According to example aspects, the stent 850 can be positioned proximatethe leak 580 and can be expanded within the pipe 272 by removing acompression force applied by the compression mechanism. In the expandedconfiguration, the sealing layer 854 can engage the inner surface 274 ofthe pipe 272 at the leak region 582. The sealing layer 854 can pressagainst the leak region 582 to create a watertight seal between thestent 850 and the inner surface 274 of the pipe 272 at the leak region582 to repair the leak 580. As such, the sealing layer 854 of the stent850 can serve as the repair material. In example aspects, fluid pressurefrom the fluid flow in the pipeline 270 can also assist in pressing thestent 850 against the inner surface 274 of the pipe 272.

With the stent 850 positioned in the pipe 272 in the expandedconfiguration, fluid in the pipeline 270 can flow through the void 856in the stent 850. Example aspects of the stent 850 can be sized andshaped to fit tightly within the pipeline 270 in the expandedconfiguration. For example, in one aspect, a diameter of the stent 850in the expanded configuration can be slightly greater than a diameter ofthe inner surface 274 of the pipe 272. The tight fit of the stent 850within the pipe 272, along with fluid pressure against the stent 850,can aid in retaining the stent 850 in position at the leak region 582.Some aspects of the stent 850 can also comprise an attachment mechanism(not shown), such as an adhesive, for attaching the stent 850 to theinner surface 274 of the pipe 272 at the leak region 582. Whether anattachment mechanism is desired, and the type of attachment mechanism,can be determined based on the surface friction of inner surface 274 ofthe pipe 272 at the leak region 582 and the surface friction of thesealing layer 854.

Example aspects of the pipe repair subsystem 400, or portions thereof,can be attached to the body 110 of the pipe repair device 100 at anylocation. In one aspect, wherein the pipe repair subsystem 400 comprisesthe stent 850, the stent 850 can be attached to the pipe repair device100 at the second end 114 of the body 110, such that the stent 850trails behind the pipe repair device 100 as it moves forward through thepipeline 270. Once the stent 850 has been positioned as desired andexpanded to repair the leak 580, the pipe repair device 100 can reverseout of the pipeline 270, passing through the void 856 of the stent 850.In other aspects, the stent 850 can be located elsewhere.

In a third aspect, the repair material can comprise metal compoundsintroduced into the leak region 582 to repair the leak 580. For example,repairing the leak 580 can comprise spot-welding the leak 580, and therepair material can comprise pipe material proximal the leak region 582and/or additional metallic filler material that is melted into the leakregion 582 (e.g., using a submersible welding head) and cooled (e.g.,actively cooled, passively cooled) in situ to repair the leak 580.

While the repair technologies of a stent 850, an underwater liquid-phaseepoxy injection, and spot-welding are discussed in detail in thisapplication, other example aspects of the pipe repair device 100 cancomprise additional or alternative technologies for repairing the leak580 within the pipeline 270. For example, other technologies and/orrepair materials can include, but are not limited to, an inflatablesleeve, natural rubber, synthetic rubber such as EPDM rubber,cyanoacrylates, tape, epoxy putty, concrete, cement, resin, an epoxy orresin-soaked cloth, and magnets. Example aspects of the epoxy putty canbe an acrylic-based epoxy putty, a polyester-based epoxy putty, aresin-based epoxy putty, or any other suitable epoxy putty. Furthermore,example aspects of the epoxy-soaked cloth can comprise an acrylic-basedepoxy, a polyester-based epoxy, a resin-based epoxy, or any othersuitable epoxy. Moreover, the repair material can comprise a compound ofvarious materials (e.g., precursors, binders, catalysts, fillermaterial, resins, etc.), be a single material (e.g., a unitarycompound), or any other suitable material. Additionally, the repairmaterial can be a liquid-phase repair material that is solidified insitu (e.g., an epoxy compound), a solid material (e.g., neoprene), apaste, a gas, a matrix, or can have any other suitable composition.

Evaluation Subsystem 800

According to example aspects, the pipe repair device 100 can alsocomprise an evaluation subsystem 800. The evaluation sub-system canfunction to determine whether the repair successfully met apredetermined repair criteria (e.g., whether the leak 580 was stopped,whether the leak rate was reduced below a threshold leak rate, etc.). Inexample aspects, as shown in FIG. 9 , the evaluation subsystem 800 cancomprise a leak evaluation mechanism 957. An example aspect of the leakevaluation mechanism 957 can comprise the hydrophone 135 and a processor958. In some example aspects, the processor 958 can be located on orwithin the pipe repair device 100, while in other aspects, the processor958 can be located remote from the pipe repair device 100. Thehydrophone 135 can extract a frequency power spectrum of noise in thepipe 272 proximal the leak region 582, and the processor 958 canidentify an audio signature corresponding to the leak 580 and determinea change in the signature (e.g., disappearance of the audio signature,reduction of the audio signature signal power below a threshold signalpower) indicative of leak repair and/or satisfaction of thepredetermined repair criteria. However, the evaluation subsystem 800 cancomprise any suitable components for evaluating the leak repair.

Methods of Use

Various methods for repairing a pipeline 270 with the pipe repair device100 are disclosed. In an example aspect, a method for repairing thepipeline 270 can comprise the steps of inserting the pipe repair device100 into a pipeline 270, detecting a leak 580 at a leak region 582 inthe pipeline 270, transporting the pipe repair device 100 through thepipeline 270 to the leak region 582, and repairing the leak 580. In someaspects, the steps of detecting the leak 580 and transporting the piperepair device 100 through the pipeline 270 can be performedconcurrently. Further, in some aspects, the method can further comprisethe step of detecting a second leak at a second leak region in thepipeline 270 before, during, or after the step of repairing the leak580. Some methods can also comprise the steps of preparing the leakregion 582 and/or evaluating the repaired leak 580.

In example aspects, the pipe repair device 100 can be inserted into thepipeline 270 at an existing access point, such as, for example, a firehydrant, a service entrance, or any other suitable point of entry thatallows for easy insertion of the pipe repair device 100 into thepipeline 270. Inserting the pipe repair device 100 into the pipeline 270at an existing access point and remotely navigating the pipe repairdevice 100 through the pipeline 270 can eliminate the need to dig up thesurrounding terrain to locate and repair the leak 580, which can savetime and costs when performing repairs.

Once inserted into the pipeline 270, the leak detection subsystem 300can detect a leak 580 in the pipeline 270 and can pinpoint the locationof the leak 580 (e.g. leak region 582) in the pipeline 270. In a firstaspect, the step of detecting a leak 580 can comprise visuallyidentifying the leak region 582. Visually identifying the leak region582 can comprise streaming video data collected via an image sensor 132of the pipe repair device 100 to a remote operator in order to manuallyidentify the leak region 582 based on the visibility of air bubblesentering the pipe 272 proximal the leak region 582 or by the visibilityof damage to the pipeline 270. In a second aspect, detecting the leak580 can comprise aurally identifying the leak region 582. Aurallyidentifying the leak region 582 can comprise tracking on or morehydrophones 135 proximal the inner surface 274 of the pipe 272 whiletransporting the pipe repair device 100 (e.g., using a locomotionsubsystem 200), and identifying the axial and azimuthal position of theleak region 582 based on triangulation of hydrophone-derived audiosignatures corresponding to leakage out of the pipeline 270.

Upon detection of a leak 580, the locomotion subsystem 200 can transportthe pipe repair device 100 to the leak region 582. In one aspect,transporting the pipe repair device 100 through the pipeline 270 cancomprise rolling the pipe repair device 100 along the inner surface 274of the pipeline 270. Rolling along the inner surface 274 of the pipeline270 can comprise biasing the one or more tracks 122 of the pipe repairdevice 100 against the inner surface 274 of the pipeline 270, supplyingpower to one or more motors of the pipe repair device 100, and drivingthe tracks 122 with the motors. In another aspect, transporting the piperepair device 100 through the pipeline 270 can comprise propelling thepipe repair device 100 through the pipeline 270. Propelling through thepipeline 270 can comprising supplying power to one or more motors of thepipe repair device 100, and driving a propulsion mechanism with themotors. In example aspects, the propulsion mechanism can be an impeller,propeller, and/or any other suitable submersible propulsion mechanism.

In some aspects, a current of the fluid flowing in the pipeline 270 canassist in moving the pipe repair device 100 through the pipeline 270. Inother aspects, a water hammer can be introduced into the pipeline 270 togenerate a pressure force to assist in moving the pipe repair device 100through the pipeline 270. As the pipe repair device 100 moves throughthe pipeline 270, fluid in the pipeline 270 can continue to flow aroundand/or through the pipe repair device 100. As such, the flow of fluid inthe pipeline 270 can continue uninterrupted as the pipe repair device100 is navigated through the pipeline 270. Such a configuration preventsthe need to shut off the fluid flow during repairs, which can save costsfor the service provider and prevent interruption of service tocustomers.

The method can optionally comprise the step of preparing the leak region582 before repairing the leak 580. In one aspect, the step of preparingthe leak region 582 can comprise preparing the inner surface 274 of thepipe 272 by removing material proximal the leak region 582. For example,a resurfacing mechanism 638 can reduce the surface roughness to producea suitable (e.g., substantially smooth) surface at which to repair theleak 580. Preparing the inner surface 274 can comprise grinding,abrading, or otherwise mechanically preparing the inner surface 274,compressing the inner surface 274, chemically reacting the inner surface274, or otherwise preparing the inner surface 274.

The step of preparing the leak region 582 can optionally comprisecontrolling a volume of the pipe 272 proximal the leak region 582 with avolume control mechanism. Preparing the leak region 582 can furthercomprise providing a suction force to the volume proximal the leakregion 582 (e.g., to prevent removed pipe material and/or resurfacingmaterial from contaminating the water flowing through the pipe 272)and/or providing a barrier to temporarily block and/or limit water flowpassed the barrier (e.g., an inflatable bladder and/or balloon that canbe expanded downstream of the leak region 582). However, in otheraspects, a fire hydrant (not shown) can be opened downstream of the leakregion 582, and any contaminated water can be flushed out.

Upon preparing the leak region 582, the leak 580 can be repaired. Thestep of repairing the leak 580 can comprise applying a repair materialto the leak region 582 using a repair mechanism of the repair subsystem400. In one aspect, the repair material can be a liquid-phase repairmaterial, and applying the repair material can comprise, for example,suffusing the leak region 582 with an epoxy compound. In another aspect,the repair material can be a solid material, applying the repairmaterial can comprise, for example, affixing a patch to the leak region582.

Optionally, the repair material can comprise curable compounds. Thus,repairing the leak 580 can optionally comprise curing the curablecompounds included in the repair material, such as by exposing thecurable compounds to heat (e.g., heating the curable compounds using aheater of the repair subsystem 400), exposing the curable compounds towater (e.g., by introducing water into the controlled volume 746proximal the leak region 582 and into which repair material has beenapplied), exposing the curable compounds to electromagnetic radiation(e.g., by shining ultraviolet light onto the leak region 582 at whichrepair material has been applied, using a light emitter of the repairsubsystem 400), and/or by any other suitable mechanism or technique.

In one specific example aspect, repairing the leak 580 can compriseproviding a stent 850 in a compressed configuration, the stent 850comprising a spring 852 and a sealing layer 854, reconfiguring the stent850 from the compressed configuration to an expanded configuration, andpressing the sealing layer 854 of the stent 850 against the innersurface 274 of the pipe 272 at the leak region 582 to create awater-tight seal between the sealing layer 854 and the leak region 582.Another example aspect of repairing the leak 580 can comprisespot-welding the leak 580. Spot-welding the leak 580 can comprisemelting pipe material proximal the leak region 582 and/or additionalmetallic filler material into the leak region 582 (e.g., using asubmersible welding head) and cooling the material (e.g., activelycooled, passively cooled) in situ to repair the leak 580.

Repairing the leak 580 can optionally comprise creating a controlledvolume 746 surrounding the leak region 582, which can function toisolate the controlled volume 746 proximal the leak region 582 from theremainder of the internal volume of the pipe 272. The controlled volume746 (e.g., repair lumen) can exhibit a flow rate through the controlledvolume 746 that is less than a threshold flow rate (e.g., the backgroundflow rate through the pipe 272, a predetermined threshold flow rate,etc.), but can alternatively exhibit any suitable flow rate. Thecontrolled volume 746 can comprise a liquid water level (e.g., volume ofliquid water) less than a threshold water level (e.g., less than 100%liquid water, less than 50% water, less than 10% water, etc.), but canalternatively comprise any suitable water level. The pressure within thecontrolled volume 746 can be less than a threshold pressure (e.g., thebackground pressure within the pipe 272, a predetermined fraction of thebackground pressure within the pipe 272, etc.), but can alternatively beany suitable pressure.

In a first aspect, creating the controlled volume 746 can comprisepushing a concave structure defining an open lumen against the innersurface 274 of the pipe 272 proximal the leak region 582. The concavestructure can be a hemispherical structure, a conical structure, and/orany other suitable structure exhibiting any suitable degree ofconcavity. The open lumen can be transformed into a closed lumen uponarranging the concave structure adjacent to the inner surface 274,wherein the inner surface 274 and the concave structure cooperativelydefine the controlled volume 746 about the leak region 582. However, thecontrolled volume 746 can be otherwise suitable defined. The concavestructure can comprise at least one orifice through which the repairmaterial can be introduced (e.g., injected, pumped).

In a second aspect, creating the controlled volume 746 can comprisepushing an expandable bladder against the inner surface 274 of the pipe272 proximal the leak region 582. Repairing the leak 580 can compriseinjecting repair material (e.g., binder) into the expandable bladder,and bursting the bladder adjacent to the leak region 582 to form a moundof repair material covering the leak region 582. Bursting the bladdercan be performed by utilizing the inner surface 274 (e.g., roughfeatures of the inner surface 274, sharp features of the inner surface274) to puncture the surface of the bladder, utilizing an internalpuncture mechanism to burst the bladder, or can be otherwise performedin any other suitable manner.

In a third aspect, creating the controlled volume 746 can compriseexpanding a first balloon upstream of the leak region 582 to blockupstream pipe flow (e.g., reduce the upstream flow below a thresholdflow rate), and expanding a second balloon downstream of the leak region582 to block flow downstream of the pipe repair device 100 and/orbackflow (e.g., reduce the downstream flow and/or backflow below athreshold flow rate). This variation can optionally comprise pumping thewater within the controlled volume 746 defined between the first andsecond balloon. In example implementations, the pipe repair device 100can define a water flow path between the first and second balloon andcan actively augment the flow rate (e.g., using an impeller, areciprocating pump, etc.) between the first and second balloon along theflow path in order to reduce the upstream pressure rise caused by thefirst (upstream) balloon (e.g., matching the flow rate to the backgroundflow rate through the pipe 272.) The step of repairing the leak 580 canthen be performed.

A specific aspect of repairing the leak 580 can comprise isolating theleak region 582 from the surrounding pipe 272 by pressing a flexible cap742 against the inner surface 274 of the pipe 272, creating afluid-impermeable seal around the leak region 582, and pumping epoxyreagents 740 into the repair lumen defined within the flexible cap 742(e.g., proximal the isolated leak region 582). This example aspect canfurther comprise mixing the epoxy reagents 740 within the repair lumen(e.g., using an agitator, by modulating the in-flow of the reagents 740to layer the reagents 740 within the lumen such that passive diffusionprocesses result in mixing, etc.). However, other aspects can comprisepre-mixing the reagents and subsequently pumping the epoxy reagents 740into the repair lumen, and/or otherwise suitably mixing the epoxyreagents 740 (e.g., impregnating an inner surface 743 of the flexiblecap 742 with an epoxy reagent 740 such that contact between an injectedepoxy component and the inner surface 743 of the flexible cap 742results in reagent mixing).

Another specific example aspect of repairing the leak 580 can compriseproviding an epoxy applicator that can comprise a flexible tube (notshown) attached to a linear actuator, actuating the epoxy applicatorproximal to the leak region 582, wherein an outlet of the flexible tubeis arranged adjacent to the leak region 582, forcing a quantity of epoxythrough the tube to create an epoxy bead that covers the leak region582, pausing for a predetermined time period (e.g., 10 seconds, 10minutes, 1 hour, etc.) for the epoxy to transition to a solid state(e.g., a cured state), and mechanically separating the solidified epoxybead from the tube (e.g., using a guillotine of the repair subsystem 400such as a single bladed guillotine, a double bladed guillotine, etc.).In some aspects, as described above, the tube can be a mixing nozzle.

Example aspects of the method can also comprise the step of evaluatingthe repair. Evaluating the repair can be performed by the evaluationsubsystem 800. A first aspect of evaluating the repair can comprisevisually evaluating the repair. Visually evaluating the repair cancomprise collecting imagery data at an image sensor 132 of the piperepair device 100 and transmitting the imagery data to a remote operator(e.g., wherein the remote operator views the imagery data rendered on adisplay outside the pipe) that can manually evaluate that the leak ratehas been reduced below a threshold level. A second aspect of evaluatingthe repair can comprise sonically evaluating the repair. Sonicallyevaluating the repair can comprise collecting auditory data at ahydrophone 135 of the pipe repair device 100, extracting auditorysignatures from the auditory data, and determining that the auditorysignatures are indicative of a reduced fluid leakage rate (e.g., reducedbelow a threshold leakage rate, reduced by a predetermined ratiorelative to an initial leakage rate, etc.).

Advantages

In summation, the leak detection and pipe repair device 100 of thepresent disclosure and the associated methods can provide severalbenefits and advantages. First, aspects of the pipe repair device 100and method can be used to perform in situ leak repair, without the needto break ground and expose leaking pipe(s) by opening a trench over thepipe location. Second, aspects of the pipe repair device 100 and methodcan enable pressurized pipe repair. The device can be inserted throughexisting access points (e.g., hydrants) that can be subsequently sealedand re-pressurized, such that the pipe does not require draining and/orisolation from the fluid distribution network. Third, aspects of themethod do not contaminate pipes in which the method is performed, andtherefore can be used in potable water piping system without the needfor decommissioning and re-certifying water pipes to carry potablewater. Fourth, aspects of the pipe repair device 100 can define aphysically compact form factor, and thus can enable the repair of pipeshaving small diameters (e.g., as small as approximately four inches indiameter) and thus can vastly increase the fraction of the fluiddistribution networks (e.g. water distribution network) that can beserviced by in situ pipe repair devices 100. Fifth, aspects of the piperepair device 100 and method can enable in situ identification of leaklocation, severity, and other leak characteristics. Instead ofdetermining water or fluid loss in a sectional manner as in conventionalmethods (e.g., measuring flow rates between disparate positions along apipe to infer that a leak is present at a location between the outlets),the leak region can be determined with high positional specificity fromwithin the pipe itself using aspects of the method. Thus, leaks can belocated and repaired more rapidly, efficiently, and effectively. Sixth,aspects of the pipe repair device 100 and method can enable in situevaluation of leak repair. Conventional devices and methods oftenrequire re-pressurization of exposed pipes to identify leaks that havenot been repaired and/or failed leak repairs; in addition to beingexpensive and inefficient, this can cause pipe damage. However,evaluation of leak repair(s) in situ can eliminate trenching costs andenhances efficiency, while avoiding the risk of further pipe damagethrough re-pressurization. The aspects described above and other aspectsof the pipe repair device 100 and/or methods contemplated herein cancomprise any other suitable benefits and/or advantages.

One should note that conditional language, such as, among others, “can,”“could,” “might,” or “may,” unless specifically stated otherwise, orotherwise understood within the context as used, is generally intendedto convey that certain embodiments include, while other embodiments donot include, certain features, elements and/or steps. Thus, suchconditional language is not generally intended to imply that features,elements and/or steps are in any way required for one or more particularembodiments or that one or more particular embodiments necessarilyinclude logic for deciding, with or without user input or prompting,whether these features, elements and/or steps are included or are to beperformed in any particular embodiment.

It should be emphasized that the above-described embodiments are merelypossible examples of implementations, merely set forth for a clearunderstanding of the principles of the present disclosure. Any processdescriptions or blocks in flow diagrams should be understood asrepresenting modules, segments, or portions of code which include one ormore executable instructions for implementing specific logical functionsor steps in the process, and alternate implementations are included inwhich functions may not be included or executed at all, may be executedout of order from that shown or discussed, including substantiallyconcurrently or in reverse order, depending on the functionalityinvolved, as would be understood by those reasonably skilled in the artof the present disclosure. Many variations and modifications may be madeto the above-described embodiment(s) without departing substantiallyfrom the spirit and principles of the present disclosure. Further, thescope of the present disclosure is intended to cover any and allcombinations and sub-combinations of all elements, features, and aspectsdiscussed above. All such modifications and variations are intended tobe included herein within the scope of the present disclosure, and allpossible claims to individual aspects or combinations of elements orsteps are intended to be supported by the present disclosure.

That which is claimed is:
 1. A pipe repair device comprising: a bodydefining a first end and a second end opposite the first end; a stentconfigurable in a compressed configuration and an expandedconfiguration, the stent mounted to the body in the compressedconfiguration; and a locomotion subsystem configured to drive the piperepair device through a pipe, the locomotion subsystem comprising asteering rod extending from the first end of the body and configured toengage an inner surface of the pipe.
 2. The pipe repair device of claim1, wherein the steering rod is selectively movable relative to the bodyto be point in a preferred direction of movement.
 3. The pipe repairdevice of claim 2, wherein: the pipe repair device further comprises apower subsystem configured to supply and carry electrical power to thelocomotion subsystem; the locomotion subsystem further comprises amotor; and the power subsystem carries the electrical power to themotor.
 4. The pipe repair device of claim 3, wherein the motor drivesthe movement of the steering rod.
 5. The pipe repair device of claim 4,wherein the power subsystem further comprises a tether carrying theelectrical power to the motor.
 6. The pipe repair device of claim 3,wherein the locomotion subsystem further comprises at least one of awheel and a continuous track, wherein the at least one of a wheel and acontinuous track is configured to engage the inner surface of the pipe,and wherein rotation of the at least one of a wheel and a continuoustrack is driven by the motor.
 7. The pipe repair device of claim 6,wherein the at least one of a wheel and a continuous track is radiallyrepositionable relative to the body.
 8. The pipe repair device of claim1, wherein the stent comprises a spring and a sealing layer wrappedaround a circumference of the spring, the sealing layer comprising aflexible and compressible repair material, wherein the spring biases thestent to the expanded configuration.
 9. The pipe repair device of claim8, wherein the stent defines a cylindrical structure, a void extendingthrough a center of the cylindrical structure, the void configured toallow fluid to flow therethrough.
 10. The pipe repair device of claim 9,wherein the body defines a middle section disposed between the first endand the second end, and wherein the middle section is received throughthe void of the stent.
 11. A pipe repair device comprising: a body; astent configurable in a compressed configuration and an expandedconfiguration, the stent mounted to the body in the compressedconfiguration; and a leak detection subsystem comprising at least onesensor, the at least one sensor configured to identify a position of aleak in a pipeline; wherein: the pipe repair device is transportablethrough the pipeline to the leak, and wherein the stent is expandable tothe expanded configuration to seal the leak; the at least one sensorcomprises at least one acoustic microphone for aurally identifying theleak; and the at least one acoustic microphone comprises at least onehydrophone configured to identify an axial position and an azimuthalposition of the leak based on triangulation of hydrophone-derived audiosignatures corresponding to the leak.
 12. The pipe repair device ofclaim 11, wherein the at least one sensor comprises at least one imagesensor for visually identifying the leak.
 13. The pipe repair device ofclaim 12, wherein the at least one image sensor comprises at least onecamera, and wherein the pipe repair device streams data collected fromthe at least one camera to a remote user to allow the remote user tovisually identify of the leak.
 14. The pipe repair device of claim 13,wherein the pipe repair device further comprises a light configured toilluminate an interior of the pipeline.
 15. The pipe repair device ofclaim 11, wherein the at least one sensor comprises an image sensor forvisually identifying the leak and an acoustic microphone for aurallyidentifying the leak.
 16. The pipe repair device of claim 11, furthercomprising a locomotion subsystem configured to drive the pipe repairdevice within the pipeline to the leak, the locomotion subsystemcomprising at least one of a wheel and a continuous track, wherein theat least one of a wheel and a continuous track is configured to engagean inner surface of the pipeline.
 17. The pipe repair device of claim16, wherein the at least one of a wheel and a continuous track isradially repositionable relative to the body.
 18. The pipe repair deviceof claim 16, wherein the stent comprises a spring and a sealing layerwrapped around a circumference of the spring, the sealing layercomprising a flexible and compressible repair material configured toengage the inner surface of the pipeline in the expanded configuration,wherein the spring biases the stent to the expanded configuration.
 19. Apipe repair device comprising: a body; a stent configurable in acompressed configuration and an expanded configuration, the stentmounted to the body in the compressed configuration; a leak detectionsubsystem comprising at least one sensor, the at least one sensorconfigured to identify a position of a leak in a pipeline, wherein thepipe repair device is transportable through the pipeline to the leak,and wherein the stent is expandable to the expanded configuration toseal the leak; and a locomotion subsystem configured to drive the piperepair device within the pipeline to the leak, the locomotion subsystemcomprising at least one of a wheel and a continuous track, wherein theat least one of a wheel and a continuous track is configured to engagean inner surface of the pipeline; wherein the stent comprises a springand a sealing layer wrapped around a circumference of the spring, thesealing layer comprising a flexible and compressible repair materialconfigured to engage the inner surface of the pipeline in the expandedconfiguration, wherein the spring biases the stent to the expandedconfiguration.